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https://github.com/wpilibsuite/allwpilib
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93523d572e
The command and shuffleboard integration tests were removed because their unit tests counterparts already provide adequate coverage. Java already removed these.
73 lines
2.5 KiB
C++
73 lines
2.5 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "frc/Relay.h" // NOLINT(build/include_order)
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#include <units/time.h>
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#include "TestBench.h"
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#include "frc/DigitalInput.h"
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#include "frc/Timer.h"
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#include "gtest/gtest.h"
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static constexpr auto kDelayTime = 10_ms;
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TEST(RelayTest, BothDirections) {
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frc::Relay relay{TestBench::kRelayChannel};
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frc::DigitalInput forward{TestBench::kFakeRelayForward};
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frc::DigitalInput reverse{TestBench::kFakeRelayReverse};
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// Set the relay to forward
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relay.Set(frc::Relay::kForward);
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frc::Wait(kDelayTime);
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EXPECT_TRUE(forward.Get()) << "Relay did not set forward";
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EXPECT_FALSE(reverse.Get()) << "Relay did not set forward";
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EXPECT_EQ(relay.Get(), frc::Relay::kForward);
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// Set the relay to reverse
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relay.Set(frc::Relay::kReverse);
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frc::Wait(kDelayTime);
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EXPECT_TRUE(reverse.Get()) << "Relay did not set reverse";
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EXPECT_FALSE(forward.Get()) << "Relay did not set reverse";
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EXPECT_EQ(relay.Get(), frc::Relay::kReverse);
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// Set the relay to off
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relay.Set(frc::Relay::kOff);
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frc::Wait(kDelayTime);
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EXPECT_FALSE(forward.Get()) << "Relay did not set off";
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EXPECT_FALSE(reverse.Get()) << "Relay did not set off";
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EXPECT_EQ(relay.Get(), frc::Relay::kOff);
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// Set the relay to on
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relay.Set(frc::Relay::kOn);
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frc::Wait(kDelayTime);
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EXPECT_TRUE(forward.Get()) << "Relay did not set on";
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EXPECT_TRUE(reverse.Get()) << "Relay did not set on";
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EXPECT_EQ(relay.Get(), frc::Relay::kOn);
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}
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TEST(RelayTest, ForwardOnly) {
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frc::Relay relay{TestBench::kRelayChannel, frc::Relay::kForwardOnly};
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frc::DigitalInput forward{TestBench::kFakeRelayForward};
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frc::DigitalInput reverse{TestBench::kFakeRelayReverse};
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relay.Set(frc::Relay::kOn);
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frc::Wait(kDelayTime);
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EXPECT_TRUE(forward.Get()) << "Relay did not set forward";
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EXPECT_FALSE(reverse.Get()) << "Relay did not set forward";
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EXPECT_EQ(relay.Get(), frc::Relay::kOn);
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}
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TEST(RelayTest, ReverseOnly) {
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frc::Relay relay{TestBench::kRelayChannel, frc::Relay::kReverseOnly};
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frc::DigitalInput forward{TestBench::kFakeRelayForward};
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frc::DigitalInput reverse{TestBench::kFakeRelayReverse};
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relay.Set(frc::Relay::kOn);
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frc::Wait(kDelayTime);
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EXPECT_FALSE(forward.Get()) << "Relay did not set reverse";
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EXPECT_TRUE(reverse.Get()) << "Relay did not set reverse";
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EXPECT_EQ(relay.Get(), frc::Relay::kOn);
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}
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